US8687861B2 - Image reconstructing method using X-ray volume photography - Google Patents

Image reconstructing method using X-ray volume photography Download PDF

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US8687861B2
US8687861B2 US12/679,680 US67968008A US8687861B2 US 8687861 B2 US8687861 B2 US 8687861B2 US 67968008 A US67968008 A US 67968008A US 8687861 B2 US8687861 B2 US 8687861B2
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Jia Shu
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/003—Reconstruction from projections, e.g. tomography
    • G06T11/006—Inverse problem, transformation from projection-space into object-space, e.g. transform methods, back-projection, algebraic methods

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  • the present invention relates to the technical field of image reconstructing, and in particular, to an image reconstructing method of the internal state of an object.
  • CT machine Since the first CT machine came out in 1972, CT machine has gone through the development of eight generations (“generation” is the mark for its developing process, essentially for how to enhance the scanning speed), however, the locating principle of scanning has not been changed, which uses the mode of scanning faultage data with precise machinery frame slip ring or beam bell-shaped device all the time.
  • Such locating, scanning manner simulating the Radon calculating condition limits the composition of CT equipment and sufficient utilization of the parts of the equipment, which results in: complexity in manufacturing the scanning machinery and the electronic devices, large amount of X-ray exposure, low utilization rate, low speed in data collecting, low precision in data scanning, low resolution in image reconstructing, and no real 3D image being created.
  • the objective of the present invention is to overcome the shortages of the current scanning technology, providing an image reconstructing method using X-ray volume photography.
  • This method reconstructs 3D image of the object interested by obtaining a planar-shaped X-ray photographic image, divides the 3D image into faultage images in any direction, which delivers not only a high image resolution and little X-ray exposure but also equipment with simple structure and low difficulty and investment in manufacturing.
  • the technical solution of the present invention is: acquiring data of a plurality of X-ray area array images by taking photos of an object interested according to the locating principle of digital photographic measurement, when taking an X-ray photo, simultaneously taking a plurality of mark points of which the 3D positions are known in an X-ray photo, using coordinates of mark points in the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction and coordinates of mark points in an X-ray photo coordinate system o-xy to construct a transforming relationship of These two coordinate systems, determining path and position of each X-ray photographic beam by using This transforming relationship, obtaining all voxels of each X-ray passing the object interested, determining the gray scale value of the voxel g by solving the Radon equation set based on a voxel g and a pixel G on the same X beam path, calculating the gray scale values of all voxels g by a computer, reconstructing a 3D volume image of the object interested based on the
  • the image reconstructing method using X-ray volume photography of the present invention comprising the following steps in sequence:
  • a photo coordinate system o-xy on the X-ray digital photo Constructing a photo coordinate system o-xy on the X-ray digital photo, the origin o of the photo coordinate system being the pixel of the vertical beam of the X-ray tube center S on the X-ray digital photo, x axis of the photo coordinate system is the lateral arrangement direction of the pixels passing through the origin o of the photo coordinate system, y axis of the photo coordinate system is vertical arrangement direction of the pixels passing through the origin o of the photo coordinate system.
  • the mark points are disposed on the object interested or the mark frame which is disposed surrounding the object interested.
  • step (4) Inputting all the X-ray digital photos taken in step (4) into the computer, performing pattern recognition and image locating to the mark points for each X-ray digital photo by the computer to obtain coordinates x, y of each mark point in the o-xy coordinate system of each photo (see Chapter 4 to Chapter 6 in “Digital Photogrammetry” by Zuxun Zhang and Jianqing Zhang for “Mark Point Pattern Recognition and Mark Point Image Locating”, published by Wuhan University Publishing House, in May, 2001, ISBN7-307003233-3/P.7);
  • the mark point pattern recognition is completed by matching a prepared mark point shape template image with a feature extraction image.
  • Feature extraction is completed by various kinds of operators; since the geometrical shapes of mark points are different, the mark points with different shapes have different image features on X photo, therefore, feature extraction operators can be classified into operator for point feature extraction, operator for line feature extraction, and operator for plane feature extraction;
  • the operator for point feature extraction mainly includes Moravec operator, Hannah operator and Forstner operator;
  • the operator for line feature extraction mainly includes gradient operator, second-order differential operator, Gauss-Laplace operator (LOG operator), feature segmentation and Hough transform;
  • plane feature extraction is mainly completed by image region segmentation, and the method of image segmentation mainly includes threshold method, region-growing method and cluster classifying method.
  • Locating image of the mark points refers to precisely determining mark point locating objective position in coordinate system o-xy of the X-ray digital photo, the mark point locating objective position is found in the extracted mark point shape region.
  • the calculating method of pattern recognition at locating objective position is the same as the preceding feature extraction operator.
  • x, y are coordinates of mark point A in photo coordinate system o-xy
  • H is the distance from X-ray tube center S to an imaging surface of X-ray digital photo
  • X A , Y A , Z A are coordinates of the mark point A in the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction
  • X S , Y S , Z S are coordinates of the X-ray tube center S in the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction.
  • the twiddle factor is:
  • X S , Y S , Z S are coordinates of the X-ray tube center S in the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction
  • ⁇ , ⁇ , ⁇ are angles in rotation directions of the X-ray digital photo in the rectangular coordinate system for volume photographic 3D image reconstruction O-XYZ (see Chapter 1 of “Analytical Photogrammetry” by Zengbo Qian for the principle and arithmetic of “rotation factor” and “collinear equation”, published by Surveying and Mapping Publishing House, 15039, new 143).
  • the corrected distance H corrected is calculated by collinear equation 1-1 of X-ray beam of mark point on X-ray digital photo
  • the corrected distance H corrected is calculated by collinear equation 1-1 of X-ray beam of mark point on X-ray digital photo
  • the volume photographic 3D image reconstructing coordinates X ij , Y ij , Z ij of each pixel G ij on each X-ray digital photo by the computer using the calculation principle and method as follows:
  • the pixels on the X-ray digital photo are equidistantly arranged in order, the distance l between pixels G is fixed.
  • the i, j are set as pixel sequence numbers, coordinate axes x, y of the photo coordinate system o-xy are set to be respectively parallel to the lateral direction and the vertical direction along which the pixels are arranged in order, photo coordinates x, y of each pixel G ij are set to be measured from intersection point o of the vertical distance from projection center S to photo P, the vertical distance from S to o is H.
  • step (6) coordinates of X-ray tube center S in the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction are: S (X S , Y S , Z S ), and when the calculated angle factors ⁇ , ⁇ , ⁇ in rotation directions are introduced, the following equations are obtained:
  • Equation (1-4) is represented as:
  • equation (1-3) and equation (1-4) together with equation (1-5) is a process of rearranging the coordinates (x, y) of pixel G on X-ray digital photo in the rectangular coordinate system for volume photographic 3D image reconstruction.
  • steps (1) to (7) coordinates of X-ray projecting center S and X-ray photo pixel G in the rectangular coordinate system for volume photographic 3D image reconstruction are obtained, obviously, positions of X-ray projecting center S and all pixels on X-ray digital photo are determined, the process of which is functionally identical with traditional CT precise machinery frame scanning, while a mechanical manner is used in traditional CT scanning to obtain the positions of X-ray projecting center S and X-ray receiver, while a calculation method is used in the present method to obtain the positions of X-ray projecting center S and all pixels on X-ray digital photo.
  • the steps of calculating the path of the beam are as follows:
  • the method in the present invention has a plurality of uses:
  • What is obtained from the method step (4) of the X-ray photography in the present invention is a plurality of X-ray digital photos of the object interested at different positions.
  • 2D plain film observation can be conducted to the object interested.
  • the photography gray scale of the X-ray digital photos obtained from the method step (4) of the present invention can be directly reversed and the X-ray digital photos are superposed with X photo to form a 2D digital subtraction image.
  • the gray scale image coordinates of the parts with the same feature can be extracted to form a feature image picture observation.
  • the method of the present invention uses an ordinary digital X-ray machine for photography to obtain the data of 2D planar-shaped image of the object being taken, reconstructs a 3D image using the planar-shaped photographic image to obtain the image data of the whole object, which provides a technical solution of a different conception for the image reconstruction of the internal state of an object.
  • the method according to the present invention determines the path and position of X beam by computer calculation, which results in not only a high resolution, little X-ray exposure, but also an apparatus with simple structure, little investment and power consumption, and low requirement to the working environment.
  • the method in the present invention can not only reconstruct a 3D image of the object interested, but also can be used for 2D plain film observation, 2D digital subtraction, real-time 3D image observation, real-time 3D locating and navigation, 3D feature image extraction, image extraction of an arbitrary faultage, etc.
  • the method according to the present invention can be widely used in the field of internal inspection, security inspection custom inspection of the object interested, internal spatial locating and navigation, medical detection of the object interested, etc.
  • FIG. 1 is a schematic diagram of Computend Temography (CT).
  • FIG. 2 is a flow chart of image reconstructing method using X-ray volume photography according to the present invention.
  • FIG. 3 is a schematic drawing of use of image reconstructing method using the X-ray volume photography according to the present invention.
  • FIG. 4 is a schematic drawing of the photo coordinate system o-xy.
  • FIG. 5 is a positional relationship diagram of the X-ray source, the object interested, mark frame, X-ray digital photo in the X-ray volume photography, which also describes the mark point and the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction.
  • FIG. 6 is a relationship diagram between the photo coordinate system o-xy and the rectangular coordinate system O-XYZ for the volume photographic 3D image reconstruction.
  • FIG. 7 is a relationship diagram between the voxel g ijk , pane and the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction.
  • FIG. 8 , FIG. 9 , FIG. 10 , and FIG. 11 are the X-ray digital photos at four different positions of the multi-layer wire frame, wherein, FIG. 8 is the first X-ray digital photo,
  • FIG. 9 is the second X-ray digital photo
  • FIG. 10 is the third X-ray digital photo
  • FIG. 11 is the fourth X-ray digital photo.
  • steps of image reconstructing of the multi-layer wire frame using the X-ray volume photography are as follows:
  • An X-ray camera is adjusted to make a vertical beam of the X-ray tube center 1 (S) perpendicular to the imaging surface of the X-ray digital photo, and then, the distance H from the X-ray tube center 1 (S) to the imaging surface of the X-ray digital photo is determined to be 1000 mm (see FIG. 4 ).
  • a photo coordinate system o-xy is constructed on the X-ray digital photo 6 , the origin o of the photo coordinate system being a pixel of the vertical beam of the X-ray tube center 1 (S) on the X-ray digital photo, x axis of the photo coordinate system being the lateral arrangement direction of the pixels passing through the origin o of the photo coordinate system, y axis of the photo coordinate system being the vertical arrangement direction of the pixels passing through the origin o of the photo coordinate system, as shown in FIG. 4 .
  • a plane mark frame is disposed using a multi-layer wire frame of 50 ⁇ 50 ⁇ 50 mm rolled of iron wire with a diameter of 0.5 mm.
  • Eight mark points A, B, C, D, E, F, G and H are disposed on the mark frame and the 3D distance between every two mark points is measured.
  • Mark point A is taken as the origin of the coordinate system to construct the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction. See Table 1 for the coordinates of each mark point in the coordinate system O-XYZ.
  • the coordinates of each mark point in the coordinate system O-XYZ are stored into the computer that is a normal PC computer.
  • the X-ray camera is operated to make the X-ray tube and the imaging surface of the X-ray digital photo move along a straight-line track, taking one X-ray digital photo for each of the four sites with a distance of 50 mm so as to obtain four X-ray digital photos of the multi-layer wire frame at different positions (see FIG. 8 , FIG. 9 , FIG. 10 and FIG. 11 ).
  • All the four X-ray digital photos taken in step (4) is input into the computer described in step (3).
  • the feature image of each mark point is extracted using matching calculation of operator Moravec for point feature extraction by the computer to determine the pixel position of each mark point in each X-ray digital photo so as to obtain the coordinates of each mark point in the o-xy coordinate system of each photo.
  • the coordinates of the mark point of each X-ray digital photo in the rectangular coordinate system O-XYZ for volume photographic 3D image reconstruction and the coordinates of the mark point in the o-xy coordinate system obtained in step (5) are induced into the collinear equations for the X-ray beams, respectively.
  • the collinear equations for the X-ray beams of three mark points in each X-ray digital photo are selected for simultaneous solution by the computer to calculate the six orientation elements of each X-ray digital photo (see Chapter 1 of “Analytical Photogrammetry” by Zengbo Qian for the calculating method, published by Surveying and Mapping Publishing House, 15039. new, 143,). See Table 2 for the orientation elements of each X-ray digital photo.
  • each X-ray digital photo obtained in step (6) is calculated by the computer to obtain all voxels g of each X beam passing the multi-layer wire frame.
  • Radon equation set is obtained based on the pixel G and the voxel g on each X beam path.
  • the gray scale values of all voxels are calculated by the computer, and the 3D volume image of the multi-layer wire frame is reconstructed based on the gray scale values of the voxels.
  • the coordinates of the feature parts of the multi-layer wire layer and the mark points are measured, the image coordinates of the gray scale of voxel g is extracted to be compared with the coordinates of the feature parts of the multi-layer wire layer and the mark points measured on the spot, and they are completely matching. It proves that the image matching of the mark point pattern recognition and the mark point image locating is correct. The corresponding points of the forward intersection calculation formed by intersecting beams intersect in pairs. The calculation of the collinear condition is correct. The beam path formed by the X-ray projection center S and the photo coordinates of the pixel G satisfies the calculating condition of Radon.
US12/679,680 2007-09-24 2008-08-04 Image reconstructing method using X-ray volume photography Expired - Fee Related US8687861B2 (en)

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CN2007100500943A CN101126725B (zh) 2007-09-24 2007-09-24 采用x射线容积摄影实现图像重建的方法
CN200710050094 2007-09-24
PCT/CN2008/001417 WO2009043224A1 (fr) 2007-09-24 2008-08-04 Procédé de reconstruction d'image utilisant une photographie volumique par rayons x

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US9420262B1 (en) 2013-03-15 2016-08-16 Matthew Myers Gyroscopic two dimensions of freedom photography system and method
CN104730091B (zh) * 2015-02-10 2018-01-16 西安交通大学 基于区域分割探测的燃气轮机叶片缺陷提取与分析方法
CN106959308B (zh) * 2017-03-20 2020-04-07 东南大学 一种混凝土结构火灾影响深度检测方法
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CN113012126B (zh) * 2021-03-17 2024-03-22 武汉联影智融医疗科技有限公司 标记点重建方法、装置、计算机设备和存储介质
CN113686906A (zh) * 2021-08-27 2021-11-23 江苏新宏大集团有限公司 一种工业x射线平焊缝缺陷定位方法
CN113947637B (zh) * 2021-12-15 2022-04-22 北京柏惠维康科技有限公司 标记点提取方法、装置、电子设备及计算机存储介质
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DE112008002547T5 (de) 2010-08-05
CN101126725B (zh) 2010-12-15
WO2009043224A1 (fr) 2009-04-09
RU2469298C2 (ru) 2012-12-10
CN101126725A (zh) 2008-02-20

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